Dr. Tim Welschehold
Postdoctoral Researcher | ||
Postal address: |
Albert-Ludwigs-Universität Freiburg |
|
Office: | Buildig 80, 01-002 | |
Email: |
twelsche@cs.uni-freiburg.de |
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Phone: | +49 761 203-8005 | |
About me
- 03/2022 - up to now: Substitute professor and commissionary head of the Autonomous Intelligent Systems group, University of Freiburg, Germany
- 03/2020 - 02/2022: Senior Researcher in the Autonomous Intelligent Systems and Robotic Learning labs, University of Freiburg
- 04/2014 - 02/2019: PhD in Computer Science at the Autonomous Intelligent Systems group of Prof. Dr. Wolfram Burgard, University of Freiburg, Germany
- 05/2013 - 03/2014: Scientific Researcher, Fraunhofer Institute of Solar Energy Systems
- 10/2007 - 04/2013: Diploma in Physics with minor in Computer Science, University of Freiburg
Research Interests
- Learning from demonstrations
- Dynamical systems
- Reinforcement learning
Current Research Projects
- Responsible and Scalable Learning for Robots Assisting Humans
- OpenDR - Open Deep learning toolkit for Robotics
- OML - Organic Machine Learning
Past Research Projects
- HYBRIS – Hybrid Reasoning for Intelligent Systems
- ROTAH – Robot Task Learning by Active Tracking of Hands
Publications
Google scholar profile
2022
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Daniel Honerkamp,
Tim Welschehold,
Abhinav Valada,
N2M2:Learning Navigation for Arbitrary Mobile Manipulation Motions in Unseen and Dynamic Environments
arXiv preprint arXiv:2206.08737, 2022.
Download Video Demo BibTeX -
Nicolai Dorka,
Tim Welschehold,
Wolfram Burgard,
Dynamic Update-to-Data Ratio: Minimizing World Model Overfitting
Decision Awareness in Reinforcement Learning Workshop at the International Conference on Machine Learning (ICML), 2022.
Download BibTeX -
Fabian Schmalstieg*,
Daniel Honerkamp*,
Tim Welschehold,
Abhinav Valada,
Learning Long-Horizon Robot Exploration Strategies for Multi-Object Search in Continuous Action Spaces
Proceedings of the International Symposium on Robotics Research (ISRR), 2022.
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Iman Nematollahi,
Erick Rosete-Beas,
Adrian Röfer,
Tim Welschehold,
Abhinav Valada,
Wolfram Burgard,
Robot Skill Adaptation via Soft Actor-Critic Gaussian Mixture Models
IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, USA, 2022.
Download Video Project Page BibTeX -
Jan Ole von Hartz,
Eugenio Chisari ,
Tim Welschehold,
Abhinav Valada,
Self-Supervised Learning of Multi-Object Keypoints for Robotic Manipulation
Reinforcement Learning for Contact-Rich Manipulation Workshop at ICRA, Philadelphia, USA, 2022.
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Eugenio Chisari ,
Tim Welschehold,
Joschka Boedecker,
Wolfram Burgard,
Abhinav Valada,
Correct Me if I am Wrong: Interactive Learning for Robotic Manipulation
IEEE Robotics and Automation Letters (RA-L), 7(2):3695--3702, 2022.
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-
Shengchao Yan ,
Tim Welschehold,
Daniel Büscher,
Wolfram Burgard,
Courteous Behavior of Automated Vehicles at Unsignalized Intersections via Reinforcement Learning
IEEE Robotics and Automation Letters (RA-L), 7(1):191--198., 2022.
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Laura Londoño,
Adrian Röfer,
Tim Welschehold,
Abhinav Valada,
Doing Right by Not Doing Wrong in Human-Robot Collaboration
ACM/IEEE International Conference on Human-Robot Interaction Workshop on Fairness and Transparency in Human-Robot Interaction, 2022.
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Abdelrahman Younes,
Daniel Honerkamp,
Tim Welschehold,
Abhinav Valada,
SoundSpaces Challenge 2022 - 2nd Place
Conference on Computer Vision and Pattern Recognition (CVPR) Embodied AI Workshop, 2022.
Video Challenge
2021
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Abdelrahman Younes*,
Daniel Honerkamp*,
Tim Welschehold,
Abhinav Valada,
Catch Me If You Hear Me: Audio-Visual Navigation in Complex Unmapped Environments with Moving Sounds
ArXiv preprint, 2021.
Download BibTeX -
Daniel Honerkamp,
Tim Welschehold,
Abhinav Valada,
Learning Kinematic Feasibility for Mobile Manipulation through Deep Reinforcement Learning
in IEEE Robotics and Automation Letters (RA-L) , 2021.
Download Video Demo BibTeX -
Abdelrahman Younes,
Daniel Honerkamp,
Tim Welschehold,
Abhinav Valada,
SoundSpaces Challenge - 1st Place
Conference on Computer Vision and Pattern Recognition (CVPR) Embodied AI Workshop, 2021.
Video Challenge
2020
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Tim Welschehold
Learning mobile manipulation actions from human demonstrations: an approach to learning and augmenting action models and their integration into task representations
Ph.D. Dissertation
Download
2019
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Tim Welschehold,
Nichola Abdo,
Christian Dornhege,
Wolfram Burgard
Combined Task and Action Learning from Human Demonstrations for Mobile Manipulation Applications
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019.
Download BibTeX -
Iman Nematollahi ,
Daniel Kuhner,
Tim Welschehold,
Wolfram Burgard
Augmenting Action Model Learning by Non-Geometric Features
IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019.
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2018
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Tim Welschehold,
Christian Dornhege,
Fabian Paus,
Tamim Asfour,
Wolfram Burgard
Coupling Mobile Base and End-Effector Motion in Task Space
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018.
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Christian Zimmermann,
Tim Welschehold,
Christian Dornhege,
Wolfram Burgard,
Thomas Brox
3D Human Pose Estimation in RGBD Images for Robotic Task Learning
IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018.
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2017
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Tim Welschehold,
Christian Dornhege,
Wolfram Burgard
Learning Mobile Manipulation Actions from Human Demonstrations
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.
Download BibTeX -
Tim Welschehold,
Nichola Abdo,
Christian Dornhege,
Wolfram Burgard
Towards Learning Task Intentions from Human Demonstrations
Workshop on “Learning for Collaborative Robotics: Enabling Flexible, Redeployable and Agile Industrial Applications” at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.
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2016
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Tim Welschehold,
Christian Dornhege,
Wolfram Burgard
Learning Manipulation Actions from Human Demonstrations
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 2016.
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Teaching
Seminars
- Co-organizer, Deep Learning for Autonomous Systems Seminar, University of Freiburg, WS 2020/21
- Co-organizer, Deep Learning Lab, University of Freiburg, SS 2020
- Co-organizer, Self-Supervised Learning Seminar, University of Freiburg, SS 2020
Current Students
- Model-free RL in mobile manipulation, A. Khalid, Master Project
- Hierarchical mobile manipulation, F. Schmalstieg, Master Project
Past Students
- Dynamical Audio-Visual Navigation: Catching Moving Unheard Sound Sources in Unmapped 3D Environments, 2021. Master Thesis of Abdelrahman Younes (co-supervised with Daniel Honerkamp)
- Deep Reinforcement Learning for Adapting Dynamical Systems, 2021. Master Project of Erick Rosete Beas (co-supervised with Iman Nematollahi )
- Augmenting Action Model Learning by Non-Geometric Features, 2018. Master Thesis of Iman Nematollahi (co-supervised with Daniel Kuhner )